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• W2996028790 abstract "State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in optimal control of mechanical systems subject to unilateral constraints – i.e., the contact-rich dynamics of robot locomotion and manipulation – are generally nonsmooth due to the underlying dynamics exhibiting discontinuous or piecewise-differentiable trajectory outcomes. Simple mechanical systems are used to illustrate this result and the implications for optimal control of contact-rich robot dynamics." @default.
• W2996028790 created "2019-12-26" @default.
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• W2996028790 date "2020-04-01" @default.
• W2996028790 modified "2023-09-24" @default.
• W2996028790 title "Nonsmooth Optimal Value and Policy Functions in Mechanical Systems Subject to Unilateral Constraints" @default.
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• W2996028790 doi "https://doi.org/10.1109/lcsys.2019.2960442" @default.
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